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<div class="title">mavlink_msg_v2_extension.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// MESSAGE V2_EXTENSION PACKING</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_V2_EXTENSION 248</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;MAVPACKED(</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span> __mavlink_v2_extension_t {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; uint16_t message_type; <span class="comment">/*&lt; A code that identifies the software component that understands this message (analogous to usb device classes or mime type strings).  If this code is less than 32768, it is considered a &#39;registered&#39; protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/extension-message-ids.xml.  Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.*/</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; uint8_t target_network; <span class="comment">/*&lt; Network ID (0 for broadcast)*/</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; uint8_t target_system; <span class="comment">/*&lt; System ID (0 for broadcast)*/</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; uint8_t target_component; <span class="comment">/*&lt; Component ID (0 for broadcast)*/</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; uint8_t payload[249]; <span class="comment">/*&lt; Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields.  The entire content of this block is opaque unless you understand any the encoding message_type.  The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.*/</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;}) mavlink_v2_extension_t;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_V2_EXTENSION_LEN 254</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN 254</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_248_LEN 254</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_248_MIN_LEN 254</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_V2_EXTENSION_CRC 8</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_ID_248_CRC 8</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define MAVLINK_MSG_V2_EXTENSION_FIELD_PAYLOAD_LEN 249</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#if MAVLINK_COMMAND_24BIT</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">    248, \</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">    &quot;V2_EXTENSION&quot;, \</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">    5, \</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">    {  { &quot;target_network&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">         { &quot;target_system&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">         { &quot;target_component&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">         { &quot;message_type&quot;, NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">         { &quot;payload&quot;, NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">         } \</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">    &quot;V2_EXTENSION&quot;, \</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">    5, \</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">    {  { &quot;target_network&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">         { &quot;target_system&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">         { &quot;target_component&quot;, NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">         { &quot;message_type&quot;, NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">         { &quot;payload&quot;, NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">         } \</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                               uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, <span class="keyword">const</span> uint8_t *payload)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">char</span> buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    _mav_put_uint16_t(buf, 0, message_type);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    _mav_put_uint8_t(buf, 2, target_network);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    _mav_put_uint8_t(buf, 3, target_system);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    _mav_put_uint8_t(buf, 4, target_component);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    _mav_put_uint8_t_array(buf, 5, payload, 249);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    mavlink_v2_extension_t packet;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    packet.message_type = message_type;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    packet.target_network = target_network;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    packet.target_system = target_system;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    packet.target_component = target_component;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    mav_array_memcpy(packet.payload, payload, <span class="keyword">sizeof</span>(uint8_t)*249);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &amp;packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    msg-&gt;msgid = MAVLINK_MSG_ID_V2_EXTENSION;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">return</span> mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                               mavlink_message_t* msg,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                                   uint8_t target_network,uint8_t target_system,uint8_t target_component,uint16_t message_type,<span class="keyword">const</span> uint8_t *payload)</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">char</span> buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    _mav_put_uint16_t(buf, 0, message_type);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    _mav_put_uint8_t(buf, 2, target_network);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    _mav_put_uint8_t(buf, 3, target_system);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    _mav_put_uint8_t(buf, 4, target_component);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    _mav_put_uint8_t_array(buf, 5, payload, 249);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    mavlink_v2_extension_t packet;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    packet.message_type = message_type;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    packet.target_network = target_network;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    packet.target_system = target_system;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    packet.target_component = target_component;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    mav_array_memcpy(packet.payload, payload, <span class="keyword">sizeof</span>(uint8_t)*249);</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &amp;packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    msg-&gt;msgid = MAVLINK_MSG_ID_V2_EXTENSION;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">return</span> mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, <span class="keyword">const</span> mavlink_v2_extension_t* v2_extension)</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;{</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> mavlink_msg_v2_extension_pack(system_id, component_id, msg, v2_extension-&gt;target_network, v2_extension-&gt;target_system, v2_extension-&gt;target_component, v2_extension-&gt;message_type, v2_extension-&gt;payload);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, <span class="keyword">const</span> mavlink_v2_extension_t* v2_extension)</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span> mavlink_msg_v2_extension_pack_chan(system_id, component_id, chan, msg, v2_extension-&gt;target_network, v2_extension-&gt;target_system, v2_extension-&gt;target_component, v2_extension-&gt;message_type, v2_extension-&gt;payload);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> mavlink_msg_v2_extension_send(mavlink_channel_t chan, uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, <span class="keyword">const</span> uint8_t *payload)</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;{</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">char</span> buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    _mav_put_uint16_t(buf, 0, message_type);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    _mav_put_uint8_t(buf, 2, target_network);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    _mav_put_uint8_t(buf, 3, target_system);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    _mav_put_uint8_t(buf, 4, target_component);</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    _mav_put_uint8_t_array(buf, 5, payload, 249);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    mavlink_v2_extension_t packet;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    packet.message_type = message_type;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    packet.target_network = target_network;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    packet.target_system = target_system;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    packet.target_component = target_component;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    mav_array_memcpy(packet.payload, payload, <span class="keyword">sizeof</span>(uint8_t)*249);</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)&amp;packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> mavlink_msg_v2_extension_send_struct(mavlink_channel_t chan, <span class="keyword">const</span> mavlink_v2_extension_t* v2_extension)</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;{</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    mavlink_msg_v2_extension_send(chan, v2_extension-&gt;target_network, v2_extension-&gt;target_system, v2_extension-&gt;target_component, v2_extension-&gt;message_type, v2_extension-&gt;payload);</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)v2_extension, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;}</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#if MAVLINK_MSG_ID_V2_EXTENSION_LEN &lt;= MAVLINK_MAX_PAYLOAD_LEN</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">  This varient of _send() can be used to save stack space by re-using</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">  memory from the receive buffer.  The caller provides a</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment">  mavlink_message_t which is the size of a full mavlink message. This</span></div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">  is usually the receive buffer for the channel, and allows a reply to an</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment">  incoming message with minimum stack space usage.</span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> mavlink_msg_v2_extension_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, <span class="keyword">const</span> uint8_t *payload)</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;{</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordtype">char</span> *buf = (<span class="keywordtype">char</span> *)msgbuf;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    _mav_put_uint16_t(buf, 0, message_type);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    _mav_put_uint8_t(buf, 2, target_network);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    _mav_put_uint8_t(buf, 3, target_system);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    _mav_put_uint8_t(buf, 4, target_component);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    _mav_put_uint8_t_array(buf, 5, payload, 249);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    mavlink_v2_extension_t *packet = (mavlink_v2_extension_t *)msgbuf;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    packet-&gt;message_type = message_type;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    packet-&gt;target_network = target_network;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    packet-&gt;target_system = target_system;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    packet-&gt;target_component = target_component;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    mav_array_memcpy(packet-&gt;payload, payload, <span class="keyword">sizeof</span>(uint8_t)*249);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;}</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">// MESSAGE V2_EXTENSION UNPACKING</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint8_t mavlink_msg_v2_extension_get_target_network(<span class="keyword">const</span> mavlink_message_t* msg)</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;{</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">return</span> _MAV_RETURN_uint8_t(msg,  2);</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint8_t mavlink_msg_v2_extension_get_target_system(<span class="keyword">const</span> mavlink_message_t* msg)</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;{</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">return</span> _MAV_RETURN_uint8_t(msg,  3);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint8_t mavlink_msg_v2_extension_get_target_component(<span class="keyword">const</span> mavlink_message_t* msg)</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;{</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">return</span> _MAV_RETURN_uint8_t(msg,  4);</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;}</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_get_message_type(<span class="keyword">const</span> mavlink_message_t* msg)</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;{</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">return</span> _MAV_RETURN_uint16_t(msg,  0);</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;}</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_v2_extension_get_payload(<span class="keyword">const</span> mavlink_message_t* msg, uint8_t *payload)</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;{</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordflow">return</span> _MAV_RETURN_uint8_t_array(msg, payload, 249,  5);</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;}</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> mavlink_msg_v2_extension_decode(<span class="keyword">const</span> mavlink_message_t* msg, mavlink_v2_extension_t* v2_extension)</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;{</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    v2_extension-&gt;message_type = mavlink_msg_v2_extension_get_message_type(msg);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    v2_extension-&gt;target_network = mavlink_msg_v2_extension_get_target_network(msg);</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    v2_extension-&gt;target_system = mavlink_msg_v2_extension_get_target_system(msg);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    v2_extension-&gt;target_component = mavlink_msg_v2_extension_get_target_component(msg);</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    mavlink_msg_v2_extension_get_payload(msg, v2_extension-&gt;payload);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        uint8_t len = msg-&gt;len &lt; MAVLINK_MSG_ID_V2_EXTENSION_LEN? msg-&gt;len : MAVLINK_MSG_ID_V2_EXTENSION_LEN;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        memset(v2_extension, 0, MAVLINK_MSG_ID_V2_EXTENSION_LEN);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    memcpy(v2_extension, _MAV_PAYLOAD(msg), len);</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;}</div></div><!-- fragment --></div><!-- contents -->
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